四旋翼无人机飞控系统的研究与实现

Research and Implementation of Flight Control System of the Quadrotor Unmanned Aerial Vehicle

摘要:

本文通过数学建模进行动力学系统分析,研究实现了基于硬件和软件的四旋翼无人机飞控系统。首先、构建了四旋翼无人机动力学模型并进行理论分析；其次、设计了无人机机架,对各组成模块进行测试、分析和试验；再次、通过集成软硬件实现了无人机飞控系统并进行飞行测试；最后、实验结果表明,实现的无人机飞控系统取得了较好的飞控效果,具有灵敏性强、稳定性高,总体性能优良等优点。

Abstract:

In this paper, the dynamic system is analyzed by mathematical modeling, and a flight control system of the quadrotor unmanned aerial vehicle based on the hardware and software is studied and implemented. First, the dynamic model of the quadrotor unmanned aerial vehicle is constructed and analyzed theoretically; Second, the rack of the quadrotor unmanned aerial vehicle is designed, to test, analyze and experiment each component module;Third, a flight control system of the quadrotor unmanned aerial vehicle is realized by integrating software and hardware and conduct flight tests. Finally, the experimental results show that the flight control system of the quadrotor unmanned aerial vehicle of being implemented has achieved good flight control effect, with the advantages of strong sensitivity, high stability and excellent overall performance and so on.